Point Cloud Library (PCL) 1.12.0
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sac_model_parallel_line.h
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40
41#pragma once
42
43#include <pcl/sample_consensus/sac_model_line.h>
44
45namespace pcl
46{
47 /** \brief SampleConsensusModelParallelLine defines a model for 3D line segmentation using additional angular
48 * constraints.
49 *
50 * Checking for inliers will not only involve a "distance to model" criterion, but also an additional "maximum
51 * angular deviation" between the line's direction and a user-specified axis.
52 *
53 * The model coefficients are defined as:
54 * - \b point_on_line.x : the X coordinate of a point on the line
55 * - \b point_on_line.y : the Y coordinate of a point on the line
56 * - \b point_on_line.z : the Z coordinate of a point on the line
57 * - \b line_direction.x : the X coordinate of a line's direction
58 * - \b line_direction.y : the Y coordinate of a line's direction
59 * - \b line_direction.z : the Z coordinate of a line's direction
60 *
61 * \author Radu B. Rusu
62 * \ingroup sample_consensus
63 */
64 template <typename PointT>
66 {
67 public:
69
73
74 using Ptr = shared_ptr<SampleConsensusModelParallelLine<PointT> >;
75 using ConstPtr = shared_ptr<const SampleConsensusModelParallelLine<PointT>>;
76
77 /** \brief Constructor for base SampleConsensusModelParallelLine.
78 * \param[in] cloud the input point cloud dataset
79 * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
80 */
82 bool random = false)
83 : SampleConsensusModelLine<PointT> (cloud, random)
84 , axis_ (Eigen::Vector3f::Zero ())
85 , eps_angle_ (0.0)
86 {
87 model_name_ = "SampleConsensusModelParallelLine";
88 sample_size_ = 2;
89 model_size_ = 6;
90 }
91
92 /** \brief Constructor for base SampleConsensusModelParallelLine.
93 * \param[in] cloud the input point cloud dataset
94 * \param[in] indices a vector of point indices to be used from \a cloud
95 * \param[in] random if true set the random seed to the current time, else set to 12345 (default: false)
96 */
98 const Indices &indices,
99 bool random = false)
100 : SampleConsensusModelLine<PointT> (cloud, indices, random)
101 , axis_ (Eigen::Vector3f::Zero ())
102 , eps_angle_ (0.0)
103 {
104 model_name_ = "SampleConsensusModelParallelLine";
105 sample_size_ = 2;
106 model_size_ = 6;
107 }
108
109 /** \brief Empty destructor */
111
112 /** \brief Set the axis along which we need to search for a line.
113 * \param[in] ax the axis along which we need to search for a line
114 */
115 inline void
116 setAxis (const Eigen::Vector3f &ax) { axis_ = ax; axis_.normalize (); }
117
118 /** \brief Get the axis along which we need to search for a line. */
119 inline Eigen::Vector3f
120 getAxis () const { return (axis_); }
121
122 /** \brief Set the angle epsilon (delta) threshold.
123 * \param[in] ea the maximum allowed difference between the line direction and the given axis (in radians).
124 */
125 inline void
126 setEpsAngle (const double ea) { eps_angle_ = ea; }
127
128 /** \brief Get the angle epsilon (delta) threshold (in radians). */
129 inline double getEpsAngle () const { return (eps_angle_); }
130
131 /** \brief Select all the points which respect the given model coefficients as inliers.
132 * \param[in] model_coefficients the coefficients of a line model that we need to compute distances to
133 * \param[in] threshold a maximum admissible distance threshold for determining the inliers from the outliers
134 * \param[out] inliers the resultant model inliers
135 */
136 void
137 selectWithinDistance (const Eigen::VectorXf &model_coefficients,
138 const double threshold,
139 Indices &inliers) override;
140
141 /** \brief Count all the points which respect the given model coefficients as inliers.
142 *
143 * \param[in] model_coefficients the coefficients of a model that we need to compute distances to
144 * \param[in] threshold maximum admissible distance threshold for determining the inliers from the outliers
145 * \return the resultant number of inliers
146 */
147 std::size_t
148 countWithinDistance (const Eigen::VectorXf &model_coefficients,
149 const double threshold) const override;
150
151 /** \brief Compute all squared distances from the cloud data to a given line model.
152 * \param[in] model_coefficients the coefficients of a line model that we need to compute distances to
153 * \param[out] distances the resultant estimated squared distances
154 */
155 void
156 getDistancesToModel (const Eigen::VectorXf &model_coefficients,
157 std::vector<double> &distances) const override;
158
159 /** \brief Return a unique id for this model (SACMODEL_PARALLEL_LINE). */
160 inline pcl::SacModel
161 getModelType () const override { return (SACMODEL_PARALLEL_LINE); }
162
163 protected:
166
167 /** \brief Check whether a model is valid given the user constraints.
168 * \param[in] model_coefficients the set of model coefficients
169 */
170 bool
171 isModelValid (const Eigen::VectorXf &model_coefficients) const override;
172
173 /** \brief The axis along which we need to search for a line. */
174 Eigen::Vector3f axis_;
175
176 /** \brief The maximum allowed difference between the line direction and the given axis. */
178 };
179}
180
181#ifdef PCL_NO_PRECOMPILE
182#include <pcl/sample_consensus/impl/sac_model_parallel_line.hpp>
183#endif
SampleConsensusModel represents the base model class.
Definition sac_model.h:70
unsigned int sample_size_
The size of a sample from which the model is computed.
Definition sac_model.h:588
std::string model_name_
The model name.
Definition sac_model.h:550
unsigned int model_size_
The number of coefficients in the model.
Definition sac_model.h:591
SampleConsensusModelLine defines a model for 3D line segmentation.
typename SampleConsensusModel< PointT >::PointCloudPtr PointCloudPtr
typename SampleConsensusModel< PointT >::PointCloudConstPtr PointCloudConstPtr
typename SampleConsensusModel< PointT >::PointCloud PointCloud
SampleConsensusModelParallelLine defines a model for 3D line segmentation using additional angular co...
bool isModelValid(const Eigen::VectorXf &model_coefficients) const override
Check whether a model is valid given the user constraints.
typename SampleConsensusModelLine< PointT >::PointCloudConstPtr PointCloudConstPtr
shared_ptr< SampleConsensusModelParallelLine< PointT > > Ptr
pcl::SacModel getModelType() const override
Return a unique id for this model (SACMODEL_PARALLEL_LINE).
SampleConsensusModelParallelLine(const PointCloudConstPtr &cloud, const Indices &indices, bool random=false)
Constructor for base SampleConsensusModelParallelLine.
double eps_angle_
The maximum allowed difference between the line direction and the given axis.
typename SampleConsensusModelLine< PointT >::PointCloud PointCloud
shared_ptr< const SampleConsensusModelParallelLine< PointT > > ConstPtr
Eigen::Vector3f axis_
The axis along which we need to search for a line.
void setAxis(const Eigen::Vector3f &ax)
Set the axis along which we need to search for a line.
Eigen::Vector3f getAxis() const
Get the axis along which we need to search for a line.
void selectWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold, Indices &inliers) override
Select all the points which respect the given model coefficients as inliers.
double getEpsAngle() const
Get the angle epsilon (delta) threshold (in radians).
typename SampleConsensusModelLine< PointT >::PointCloudPtr PointCloudPtr
void getDistancesToModel(const Eigen::VectorXf &model_coefficients, std::vector< double > &distances) const override
Compute all squared distances from the cloud data to a given line model.
std::size_t countWithinDistance(const Eigen::VectorXf &model_coefficients, const double threshold) const override
Count all the points which respect the given model coefficients as inliers.
void setEpsAngle(const double ea)
Set the angle epsilon (delta) threshold.
SampleConsensusModelParallelLine(const PointCloudConstPtr &cloud, bool random=false)
Constructor for base SampleConsensusModelParallelLine.
Definition bfgs.h:10
@ SACMODEL_PARALLEL_LINE
Definition model_types.h:55
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
A point structure representing Euclidean xyz coordinates, and the RGB color.